Identification and Robust Control for The Micro-hand Systems Using Robust Right Coprime Factorization Method

摘要

In the existing Micro-hand model study, the rubber radius ra is a fixed value, but the rubber radius ra is time-varying, which needs identification. Thus, in this paper, the least squares identification algorithm is used to estimate the value of ra. Then with the estimated value, the robust right coprime factorization combined with adaptive control are proposed to deal with the robust tracking issue, which is verified by the simulation result.